流体 FlowBots：体现在再循环流体流动特性中的智能
Fluidic FlowBots: Intelligence embodied in the characteristics of recirculating fluid flow
AI总结：
本文提出 FlowBots 概念，利用连续流体再循环特性将复杂控制功能直接嵌入软机器人结构，并通过双向执行器、夹持器和四足游泳机器人三个示例验证其可简化流体控制架构并支持整体增材制造。
摘要：
控制输入到执行器输出的一对一映射导致了复杂的布线架构，这限制了流体软机器人行为目前能够达到的复杂程度。具身智能可以作为一种工具来抵消这一现象。通过利用流体流动现象的特性，控制功能可以直接嵌入到执行器中。虽然先前的软机器人研究只专注于在瞬态/无流动（恒定压力）或脉动/交替流动状态下工作的执行器，但我们的工作开始探索在闭环流动再循环状态下运行所带来的可能性。在此，我们引入了 FlowBots 的概念：一种软机器人，利用连续流体流动的特性，将复杂的控制功能直接体现在机器人的结构中。FlowBots 具有稳健、集成、无移动部件的控制系统，这些架构使得整体式增材制造方法、快速原型制作、更高的可持续性以及广泛的应用范围成为可能。基于三个 FlowBot 示例：一个双向执行器、一个夹持器和一个四足游泳机器人，我们展示了流动再循环的特性如何有助于简化流体模拟控制架构。最后，我们概述了我们的设计和快速原型制作方法，以赋能该领域的其他研究者探索这一新兴的设计领域，并设计他们自己的 FlowBots。
英文摘要：
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract this phenomenon. Control functionality can be embedded directly into actuators by leveraging the characteristics of fluid flow phenomena. Whilst prior soft robotics work has focused exclusively on actuators operating in a state of transient/no flow (constant pressure), or pulsatile/alternating flow, our work begins to explore the possibilities granted by operating in the closed-loop flow recirculation regime. Here we introduce the concept of FlowBots: soft robots that utilise the characteristics of continuous fluid flow to enable the embodiment of complex control functionality directly into the structure of the robot. FlowBots have robust, integrated, no-moving-part control systems, and these architectures enable: monolithic additive manufacturing methods, rapid prototyping, greater sustainability, and an expansive range of applications. Based on three FlowBot examples: a bidirectional actuator, a gripper, and a quadruped swimmer - we demonstrate how the characteristics of flow recirculation contribute to simplifications in fluidic analogue control architectures. We conclude by outlining our design and rapid prototyping methodology to empower others in the field to explore this new, emerging design field, and design their own FlowBots.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
